diydrones/ardupilot — pull request #97 by jason4short (2013-02-22 06:16:34+00:00)
Title: AC : throttle mid point calculation converted to integer math from float for speed

0be731059b64f3aca418b0eb865a7c7b47122355

This is a simple change with no reduction in resolution since the output is an int16_t. Made a test function to confirm the accuracy against the current version and the output is the same.